How to Use the SAMA5D2 Watchdog Under Linux®

AN3264 How to Use the SAMA5D2 Watchdog Under Linux®

Introduction

This application note describes how to get started using the SAMA5D2 Watchdog under Linux. The Watchdog timer can be used to detect and recover from system malfunctions. The basic principle is that once the Watchdog timer is kicked off, a periodic system reboot countdown begins, then the application needs to clear the Watchdog timer within a suitable time to avoid an immediate system reset by the Watchdog. The device driver for the SAMA5D2 Watchdog has been released in the Microchip Linux BSP. It is easy to access this driver via the watchdog command in the Linux console simply by launching the Watchdog command in a suitable place (in the init.d scripts). Refer to the section Hands-On to add new init.d scripts for Watchdog.

Reference Documents

Title Reference Available SAMA5D2 Series Datasheet DS60001476 https://www.microchip.com/design-centers/32-bit-mpus SAMA5D27 SOM1 Kit1 User Guide DS50002667 https://www.microchip.com/DevelopmentTools/ProductDetails/ PartNO/ATSAMA5D27-SOM1-EK1

Prerequisites

• Hardware – PC – SAMA5D27 SOM1 Evaluation Kit (Part Number: ATSAMA5D27-SOM1-EK1) – SDCard • Software This demo runs on the AT91 Linux platform built by Buildroot. The first step is to set up the AT91 Buildroot development environment. Refer to the web site: http://www.at91.com/linux4sam/bin/view/Linux4SAM/BuildRoot

Table of Contents

Introduction...... 1

Reference Documents...... 1

Prerequisites...... 1

1. Hardware Design...... 4

2. Software Design...... 5 2.1. Device Tree...... 5 2.2. Kernel...... 5 2.3. Rootfs...... 6

3. Hands-On...... 7

4. Revision History...... 9 4.1. Rev. A - 09/2019...... 9

The Microchip Website...... 10

Product Change Notification Service...... 10

Customer Support...... 10

Microchip Devices Code Protection Feature...... 10

Legal Notice...... 10

Trademarks...... 11

Quality Management System...... 11

Worldwide Sales and Service...... 12

1. Hardware Design The SAMA5D2 MPU integrates a Watchdog with the characteristics listed below: • 12-bit Key-protected Programmable Counter • Watchdog Clock is Independent from Processor Clock • Provides Reset or Interrupt Signals to the System • Counter May Be Stopped while the Processor is in Debug State or in Idle Mode Figure 1-1. Watchdog Timer Block Diagram

write WDT_MR WDT_MR

WDV WDT_CR

WDRSTT reload 1 0

12-bit Down Counter

WDT_MR reload WDD Current SLCK Value 1/128

<= WDD WDT_MR WDRSTEN = 0 wdt_fault (to Reset Controller) set

WDUNF wdt_int set reset WDERR read WDT_SR reset WDFIEN or reset WDT_MR

2. Software Design The Microchip Linux platform was built using Buildroot with the following configuration: atmel_sama5d27_som1_ek_mmc_dev_defconfig All necessary functions for the Watchdog have been selected in this configuration, but with the default setting, the watchdog is not enabled. We can launch and feed it with the BusyBox Watchdog command.

2.1 Device Tree • Action: no need to change • Location: buildroot-at91/output/build/linux-linux4sam_6.0/arch/arm/boot/dts • Sources: – sama5d2.dtsi – at91-sama5d27_som1_ek.dts

Device tree for Watchdog in sama5d2.dtsi: watchdog@f8048040 { compatible = "atmel,sama5d4-wdt"; // specify which driver will be used for this watchdog //device reg = <0xf8048040 0x10>; // watchdog base address is 0xf8048040, size of register block //is 0x10 interrupts = <4 IRQ_TYPE_LEVEL_HIGH 7>; // PID of watchdog is 4, high level triggered, //priority is 7 clocks = <&clk32k>; // definition for watchdog clock source status = "disabled"; // default disabled, and will be replaced with “okay” };

clk32k: sckc@f8048050 { compatible = "atmel,sama5d4-sckc"; // specify which driver will be used for this slow //clock device reg = <0xf8048050 0x4>; // slow clock controller base address is 0xf8048050, size of //register block is 0x4

clocks = <&slow_xtal>; // two clock sources for slow clock controller, external 32.768KHz //crystal or internal 64KHz RC // here we use the external 32.768 kHz crystal oscillator. #clock-cells = <0>; };

Device tree for Watchdog in at91-sama5d27_som1_ek.dts: watchdog@f8048040 { //atmel,watchdog-type = "software"; // with this property, a watchdog interrupt will be //asserted instead of reset chip, then system could //be reset in interrupt service routine synchronization //atmel,idle-halt; // with this property, the watchdog stops when the system is in //idle state //atmel,dbg-halt; // with this property, the watchdog stops when the processor is in //debug state status = "okay"; // here we set status of watchdog to “okay”, enable watchdog device };

2.2 Kernel • Action: no need to change • Location: buildroot-at91/output/build/linux-linux4sam_6.0/ • Defconfig: sama5_defconfig • Driver files: drivers/watchdog/sama5d4_wdt.c

Check the kernel configuration for the Watchdog function: user@at91:~/buildroot-at91$ make linux-menuconfig

Device Drivers > Watchdog Timer Support > Atmel SAMA5D4 Watchdog Timer With the default setting, the Atmel Watchdog driver is selected.

2.3 Rootfs • Action: no need to change • Location: buildroot-at91/output/images/rootfs.tar The following device node is used to access the Watchdog driver in userspace: • /dev/watchdog

3. Hands-On Once all the Watchdog functions have been selected in the configuration as described in the previous sections, then the Watchdog can be launched and fed with the BusyBox Watchdog command.

Usage of the Watchdog command: # watchdog BusyBox v1.27.2 (2019-04-26 11:28:56 CST) multi-call binary.

Usage: watchdog [-t N[ms]] [-T N[ms]] [-F] DEV

Periodically write to watchdog device DEV

-T N Reboot after N seconds if not reset (default 60) -t N Reset every N seconds (default 30) -F Run in foreground

Use 500ms to specify period in milliseconds

1. Execute the following command to launch the Watchdog manually. Set the reboot time as 10 seconds and the reset time as 5 seconds. The Watchdog command feeds the Watchdog device automatically. # watchdog -T 10 -t 5 /dev/watchdog 2. An alternative is to add an init script for the Watchdog: the Watchdog is then launched and fed automatically after system boot-up. Configure Buildroot and select the feature Install the watchdog daemon startup script: user@at91:~/buildroot-at91$ make menuconfig

3. Rebuild Buildroot with the following command: user@at91:~/buildroot-at91$ make A new init script of the Watchdog is generated as S15watchdog in /etc/init.d:

user@at91:~/buildroot-at91$ cat output/target/etc/init.d/S15watchdog #!/bin/sh # # Start watchdog # case "$1" in start) echo "Starting watchdog..." watchdog -t 5 /dev/watchdog ;; stop) ;; restart|reload) ;; *)

echo "Usage: $0 {start|stop|restart}" exit 1 esac exit $?

How to Verify the Watchdog Reboot Function 1. With the default setting, the BusyBox Watchdog command runs in the background. Do not try to kill it to verify the Watchdog reboot function. With the following source code, the Watchdog is disabled before the task exits: buildroot-at91/output/build/busybox-1.27.2/miscutils/watchdog.c We can use the -F option to make the BusyBox Watchdog command run in the foreground, and use Ctrl + z to suspend to the system. In this case, the Watchdog device is enabled but is no longer fed. After a few seconds (max 16s), the chip is reset by the Watchdog device. 1.1. Use killall to kill the Watchdog command which is running in background; and then execute it in foreground: # killall watchdog # watchdog -t 5 /dev/watchdog -F watchdog: WDIOC_SETTIMEOUT: Invalid argument ^Z[1]+ Stopped watchdog -t 5 /dev/watchdog -F

1.2. Input Ctrl + Z from the Linux command line.

# RomBOOT

AT91Bootstrap 3.8.11 (Fri Apr 26 11:49:16 CST 2019)

SD/MMC: Image: Read file u-boot.bin to 0x23f00000 MMC: ADMA supported SD: Card Capacity: High or Extended SD: Specification Version 3.0X SD/MMC: Done to load image

2. Another option is to put the system into Sleep mode. The system reboots within seconds of entering Sleep mode. Note: If the property “atmel,idle-halt” of the Watchdog is enabled in the device tree, the system does not reboot after entering Sleep mode. With the default settings, this property is not enabled.

# echo mem > /sys/power/state PM: suspend entry (deep) PM: Syncing filesystems ... done. Freezing user space processes ... (elapsed 0.000 seconds) done. OOM killer disabled. Freezing remaining freezable tasks ... (elapsed 0.001 seconds) done. Suspending console(s) (use no_console_suspend to debug) RomBOOT

AT91Bootstrap 3.8.11 (Fri Apr 26 11:49:16 CST 2019)

SD/MMC: Image: Read file u-boot.bin to 0x23f00000 MMC: ADMA supported SD: Card Capacity: High or Extended SD: Specification Version 3.0X SD/MMC: Done to load image

4. Revision History

4.1 Rev. A - 09/2019

First issue.

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